Class containing a 3dof mass simObjec without gravity. More...

#include <CMass.h>

Inheritance diagram for CMass:

Collaboration diagram for CMass:

Public Member Functions
	CMass (std::string sSimObjectName, ISimObjectCreator *pCreator)
	The constructor sets the pointer to the output object and the parser object.

virtual void	OdeFcn (const double dT, const double const adX, double const adXDot) const
	Calculates the state derivatives.

	CMass (std::string sSimObjectName, ISimObjectCreator *pCreator)
	The constructor sets the pointer to the output object and the parser object.

virtual void	OdeFcn (const double dT, const double const adX, double const adXDot) const
	Calculates the state derivatives.

virtual bool	HasJacobians () const override

virtual void	OdeJacobian (double T, const double X, double J, int nStates) override

virtual int	GetJacobianSparsity (int nStates, int rowPtr, int colIdx) override

virtual bool	HasPortJacobians () const override

virtual void	OutputPortJacobian (const std::string &portName, double T, const double X, double dPort_dX, int portSize, int nStates, int index=-1) override

virtual void	InputPortJacobian (const std::string &portName, double T, const double X, double dF_dInput, int portSize, int nStates) override

Protected Member Functions
virtual const double *	Position (const double dT, const double *const adX)
	Returns the current position state.

virtual const double *	Velocity (const double dT, const double *const adX)
	Returns the current velocity state.

virtual const double *	Position (const double dT, const double *const adX)

virtual const double *	Velocity (const double dT, const double *const adX)

int	LocalIndex (int globalStateIndex) const

Protected Attributes
double	m_dMass
	The mass of the object.

double	m_dg
	The acceleration of gravity.

ISignalPort *	m_pInForce
	A pointer to the input force.

int	m_IStatePos
	The index of the position state.

int	m_IStateVel
	The index of the velocity state.

Detailed Description

Author: Karl-Johan Reite

Examples: CMass.h.

Member Function Documentation

◆ LocalIndex()

int CMass::LocalIndex ( int globalStateIndex ) const

inlineprotected

Turns a model-global state index into one local to this SimObject.

OdeFcn and the port functions are handed the whole model's state vector, so they use the global indices above directly. The Jacobian callbacks are handed this object's own slice, whose first element is the first state it registered (Pos), so every index they use goes through this function (BASE-0021).

◆ OdeFcn() [1/2]

virtual void CMass::OdeFcn	(	const double	dT,
		const double *const	adX,
		double *const	adXDot
	)		const

virtual

Reimplemented in C3DBody.

Examples: CMass.cpp, and CMass.h.

◆ OdeFcn() [2/2]

virtual void CMass::OdeFcn	(	const double	dT,
		const double *const	adX,
		double *const	adXDot
	)		const

virtual

Reimplemented in C3DBody.

◆ Position()

virtual const double * CMass::Position	(	const double	dT,
		const double *const	adX
	)

protectedvirtual

Parameters

dT	Current time.
adX	Current state vector.

Returns: Pointer to the position component of the state.

Examples: CMass.cpp, and CMass.h.

◆ Velocity()

virtual const double * CMass::Velocity	(	const double	dT,
		const double *const	adX
	)

protectedvirtual

Parameters

dT	Current time.
adX	Current state vector.

Returns: Pointer to the velocity component of the state.

Examples: CMass.cpp, and CMass.h.

Member Data Documentation

◆ m_IStatePos

int CMass::m_IStatePos

protected

The model-global index of the position state, as AddState returned it.

Examples: CMass.cpp, and CMass.h.

◆ m_IStateVel

int CMass::m_IStateVel

protected

The model-global index of the velocity state, as AddState returned it.

Examples: CMass.cpp, and CMass.h.

The documentation for this class was generated from the following files:

webfhsim/reloadrepos/fhsim/doc/user/examples/CMass.h
webfhsim/reloadrepos/fhsim_base/src/body/CMass.h

Public Member Functions

Protected Member Functions

Protected Attributes